<mujoco model="233-lantern-wheel-stops">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
<asset><mesh name="click_h0" vertex="-0.119088 -0.011 -0.009088 -0.119088 -0.003 -0.009088 0 -0.011 -0.007 0 -0.003 -0.007 0 -0.011 0.007 0 -0.003 0.007 -0.104946 -0.011 0.005054 -0.104946 -0.003 0.005054"/></asset>
<size memory="64M"/>
<worldbody>
<body name="wheel" pos="0 0 0"><joint name="j_wheel" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0.003866854249 0" mass="1.741774365" fullinertia="0.004318725261 0.008586742773 0.004318725261 0 0 0"/><geom name="wheel_h0" type="capsule" fromto="0.075505 0.005 0.026437 0.075505 -0.013 0.026437" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h1" type="capsule" fromto="0.052171 0.005 0.060648 0.052171 -0.013 0.060648" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h2" type="capsule" fromto="0.014857 0.005 0.078608 0.014857 -0.013 0.078608" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h3" type="capsule" fromto="-0.026437 0.005 0.075505 -0.026437 -0.013 0.075505" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h4" type="capsule" fromto="-0.060648 0.005 0.052171 -0.060648 -0.013 0.052171" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h5" type="capsule" fromto="-0.078608 0.005 0.014857 -0.078608 -0.013 0.014857" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h6" type="capsule" fromto="-0.075505 0.005 -0.026437 -0.075505 -0.013 -0.026437" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h7" type="capsule" fromto="-0.052171 0.005 -0.060648 -0.052171 -0.013 -0.060648" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h8" type="capsule" fromto="-0.014857 0.005 -0.078608 -0.014857 -0.013 -0.078608" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h9" type="capsule" fromto="0.026437 0.005 -0.075505 0.026437 -0.013 -0.075505" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h10" type="capsule" fromto="0.060648 0.005 -0.052171 0.060648 -0.013 -0.052171" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h11" type="capsule" fromto="0.078608 0.005 -0.014857 0.078608 -0.013 -0.014857" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="click" pos="0.17 0 0.06"><joint name="j_click" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0" range="-0.5 0" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.04997654911 -0.007 -0.001031316626" mass="0.1092264925" fullinertia="0.000002435592737 0.0001377019524 0.0001364314422 0 -0.000003326676432 0"/><geom name="click_h0" type="mesh" mesh="click_h0" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="roller_lever" pos="-0.16 0 0.03"><joint name="j_lever" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0" range="-0.5 0.5" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.04457801572 -0.01588359381 0.01783786308" mass="0.08083503649" fullinertia="0.00002454119703 0.0001717521953 0.0001478655448 -6.120160403e-7 -0.00005875628498 -2.448980968e-7"/><body name="roller" pos="0.109619 0 0.043864"><joint name="j_roller" type="hinge" axis="0 -1 0" damping="0.0002" frictionloss="0"/><inertial pos="0 -0.0075 0" mass="0.04269895655" fullinertia="0.000003332380692 0.000006449326668 0.000003332380692 0 0 0"/><geom name="roller_h0" type="capsule" fromto="0 -0.01 0 0 -0.005 0" size="0.018" contype="16" conaffinity="8" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="frame" pos="0 0 0"></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality></equality>

<actuator><velocity name="drive" joint="j_wheel" kv="20" forcerange="-20 20"/></actuator>
</mujoco>
